JERAJournal of Electronic Research and Application2208-35022208-3510Bio-Byword Scientific Publishing Pty. Ltd.10.26689/jera.v8i4.7919ArticleAn Underwater Robot Inspection Anomaly Localization Feedback System Based on Sonar Technologyhttps://artdesignp.com/journal/JERA/8/4/10.26689/jera.v8i4.7919ChengSiqiang,LiuYi,TangAibin,YangLibin2024842024-08-12This article introduces an underwater robot inspection anomaly localization feedback system comprising a real-time water surface tracking, detection, and positioning system located on the water surface, while the underwater robot inspection anomaly feedback system is housed within the underwater robot. The system facilitates the issuance of corresponding mechanical responses based on the water surface’s real-time tracking, detection, and positioning, enabling recognition and feedback of anomaly information. Through sonar technology, the underwater robot inspection anomaly feedback system monitors the underwater robot in real-time, triggering responsive actions upon encountering anomalies. The real-time tracking, detection, and positioning system from the water surface identifies abnormal conditions of underwater robots based on changes in sonar images, subsequently notifying personnel for necessary intervention.

Xu Y, Li P, 2011, Development Trends of Underwater Robots. Nature Journal, 33(3): 125–132.

Yuh J, 2000, Design and Control of Autonomous Underwater Robots: A Survey. Autonomous Robots, 8(1): 7–24. https://doi.org/10.1023/A:1008984701078

Antonelli G, Pascal M, 2003, Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems, Springer Tracts in Advanced Robotics, Vol 2. Applied Mechanics Reviews, 6(6): B81. https://doi.org/10.1115/1.1623755

Liu Q, 2021, Research and Implementation of Underwater Robot Positioning and Navigation Technology Based on Dual Inertial Navigation, thesis, Yangzhou University.

Lu Y, 2006, Research on Real Time Motion Planning Method for Underwater Robots in Current Environment, thesis, Harbin Engineering University.

Jia Z, 2004, Research on Simulation Model and Positioning System of Underwater Robots, thesis, Nanjing University of Technology.

Fan G, Zhang Y, Zhao H, Li B, 2022, Development Status and Analysis of Underwater Robot Positioning and Navigation Technology. Journal of Weapon Equipment Engineering, 43(03): 22–29.

Liu N, 2020, Research on Underwater Sound Velocity Correction Algorithm and Precision Positioning Method, thesis, Chang’an University. https://doi.org/10.26976/d.cnki.gchau.2020.000365

Song Z, 2017, Research on Underwater Terrain and Landform Matching Localization Method Based on Sonar Image Processing, thesis, Harbin Engineering University.

Zhang J, 2018, Research on the Application of Noise Estimation Algorithm in Side Scan Sonar Image Denoising, thesis, First Institute of Oceanography, Ministry of Natural Resources (MNR) of China.

Fu N, 2019, Research on Classification Method of Seabed Sediment Types Based on Sonar Image Features, thesis, Harbin Engineering University.

Gao M, 2014, Design of Underwater Robot Combined Positioning Based on Vision and Inertial Navigation, thesis, Zhejiang University.

Yang Y, Wang YB, Yang ZY, et al., 2024, Research on the Classification of Seabed Sediments Sonar Images Based on MoCo Self-Supervised Learning. Journal of Physics: Conference Series, 2718: 012058.

Shang C, Wang W, Xie G, et al., 2013, Overview of Underwater Robot Positioning Methods. Ordnance Automation, 32(12): 46–50.

Ren C, 2010, Simultaneous Localization and Map Construction Algorithm and Implementation of Autonomous Underwater Robots, thesis, Ocean University of China.